add test code of ekf localization simulation

ShisatoYano · Nov 30, 2023 · aa01e38 · aa01e38
1 parent 8ada23a
commit aa01e38
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Showing 3 changed files with 20 additions and 0 deletions.
diff --git a/.gitignore b/.gitignore
@@ -11,6 +11,7 @@ src/components/sensors/lidar/__pycache__
 src/components/state/__pycache__
 src/components/vehicle/__pycache__
 src/components/visualization/__pycache__
+src/simulations/localization/extended_kalman_filter_localization/__pycache__
 src/simulations/path_tracking/pure_pursuit_path_tracking/__pycache__
 src/simulations/perception/point_cloud_search/__pycache__
 src/simulations/perception/point_cloud_rectangle_fitting/__pycache__

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -14,6 +14,7 @@
         "C:\\Users\\shisa\\AutonomousVehicleControlBeginnersGuide\\src\\components\\state",
         "C:\\Users\\shisa\\AutonomousVehicleControlBeginnersGuide\\src\\components\\vehicle",
         "C:\\Users\\shisa\\AutonomousVehicleControlBeginnersGuide\\src\\components\\visualization",
+        "C:\\Users\\shisa\\AutonomousVehicleControlBeginnersGuide\\src\\simulations\\localization\\extended_kalman_filter_localization",
         "C:\\Users\\shisa\\AutonomousVehicleControlBeginnersGuide\\src\\simulations\\path_tracking\\pure_pursuit_path_tracking",
         "C:\\Users\\shisa\\AutonomousVehicleControlBeginnersGuide\\src\\simulations\\perception\\lidar_obstacle_sensing",
         "C:\\Users\\shisa\\AutonomousVehicleControlBeginnersGuide\\src\\simulations\\perception\\point_cloud_rectangle_fitting",

diff --git a/test/test_ekf_localization_path_tracking.py b/test/test_ekf_localization_path_tracking.py
@@ -0,0 +1,18 @@
+"""
+Test of Localization and Path tracking Simulation by EKF and Pure pursuit
+
+Author: Shisato Yano
+"""
+
+from pathlib import Path
+import sys
+import pytest
+
+sys.path.append(str(Path(__file__).absolute().parent) + "/../src/simulations/localization/extended_kalman_filter_localization")
+import extended_kalman_filter_localization
+
+
+def test_simulation():
+    extended_kalman_filter_localization.show_plot = False
+
+    extended_kalman_filter_localization.main()